車式移動機器人系統(tǒng)的軌跡跟蹤控制【畢業(yè)論文】

1、本科畢業(yè)設(shè)計本科畢業(yè)設(shè)計（2020屆）屆）車式移動機器人系統(tǒng)的軌跡跟蹤控制所在學(xué)院專業(yè)班級電氣工程及其自動化學(xué)生姓名學(xué)號指導(dǎo)教師職稱完成日期年月IIAbstract【ABSTRACTABSTRACT】InrecentyearsRobotusedmewidelyFromtheiginalsinglemanufacturingGraduallyexptolikemedicalhousewkentertainmentthemanufactur

2、ingserviceindustries.Theemergenceofthepowerfulpromotedtheprogressofsciencetechnologythedevelopmentofsocialeconomybringhugeeconomicwealthtopeople.Robotictechnologyisrapidlyinnewtechnologyrevolutiondevelopedanewsubjectison

3、eofthegreatestinventionsinhumanbeings.Theresearchhasbeenagreatimptanceathomeabroadthehightechnologyfieldsnationalresearchinstitutionshavedevelopedaccdingtotheneedofdifferentusesofrobot.Mobilerobotisanimptantbranchofthero

4、boticshavingimptantmilitarycivilianvalue.Thispaperfirststudiedcartypemobilerobotkinematicsmodelthenestablishingtherobot’skinematicsmodel.Thenaccdingtothemodelputingfwardrobotadaptivetrajectytrackingcontrolmethod.Comparet

5、hepresentseveraldifferentmethodsfrobottrajectytrackingcontrol.FinallychoosetheslidingmodetrajectytrackingcontrolusetheBackteppingtodesignthecontroller.BasedonMATLABsoftwareofcircularlineartwocircuitsimulationrespectively